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<p class="heading"><span class="smallhead">Professional</span><br />&nbsp;&nbsp;&nbsp;Microsoft Robotics Developer Studio<br />
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<h1>Teleoperation Service</h1>

<h2>Purpose</h2>
The term <i>teleoperation</i> refers to remotely controlling a robot
usually with a video camera on board the robot. This is what the
TeleOperation service was designed for, while occupying only a small
amount of screen real-estate and providing a simple user interface.

<h2>Description</h2>
<p>
The TeleOperation service has two windows - one for controlling a Differential Drive,
and the other for viewing a Webcam. When you save the option settings, it remembers where you
last placed the windows on the screen so that they will
always pop up in the same position. The connection parameters are remembered as well.
The interface looks like the following (click on the image for a larger version):
</p>
<a href="Images/TeleOperation-R2D2.jpg"><img src="Images/TeleOperation-R2D2_small.jpg" border="0" alt="TeleOperation Windows - Click for larger image" /></a>
<p>
Enter the host name and the port number to connect to. The first Differential Drive
service and Webcam service found on the specified host machine will be used.
(You cannot control multiple robots with this service.)
</p>
<p>
You can use a Joystick or Gamepad, the arrow keys on the keyboard, and the
on-screen &quot;trackball&quot; to control the robot once you have connected.
To use the keyboard, hold down an arrow key for the robot
to move. When you release the key, the robot will stop.
The game controller and the arrow keys still work if you have the Webcam
window selected instead of the control panel.
</p>
<p>
There are Motion Control buttons in the bottom-right of the TeleOperation window
that can be used to move the robot. When the Fixed Moves check box is <b>not</b>
ticked, these buttons operate the same as Robotics Tutorial 4 (Drive by Wire),
i.e. they control the motors directly.
</p> 
<p>
If the Fixed Moves checkbox is selected, then these arrow buttons use the TranslateDistance
and RotateDegrees functions of the Differential Drive. For these to work,
the robot you are driving must implement these operations. You can adjust
the distance and the amount of rotation by changing the settings.
</p>
<p>
<b>NOTE:</b> To save the settings, you must use a web browser to
view the state of the service. Browse to the following URL when
the service is running:<br />
<a href="http://localhost:50000/teleoperation">http://localhost:50000/teleoperation</a>
</p>
<p>
When you save the settings, a file called TeleOperation.Config.xml will be written
into the ProMRDS/Config directory. Most of the settings are the same as for the
<a href="Dashboard.htm">Dashboard</a> service.
</p>

<h2>Legal Stuff</h2>
<p>
This code is available free of charge for non-commercial use.
Please see the <a href="../Licence.htm">Licence Agreement</a>.
</p>
<p>
This service should not be used for commercial purposes because its operation is not guaranteed.
</p>
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